Method and apparatus for retrieving a hovering aircraft

ABSTRACT

For retrieval of a hovering aircraft, a cable, bar, or similar fixture is suspended in an approximately horizontal orientation across the retrieval area between two well-separated supports. The aircraft slowly flies into this fixture, which then slides along the aircraft in a direction approximately parallel with the aircraft&#39;s thrust line. This leads to the aircraft becoming fastened to the fixture by an interceptor or aircraft capturer, which in alternative embodiments are respectively on the aircraft or the fixture or both. Thrust is then reduced, and the aircraft comes to rest hanging from the fixture for subsequent removal. Retrieval is thus accomplished with simple and economical apparatus, light and unobtrusive elements on the aircraft, low risk of damage, and only moderate piloting accuracy.

PRIORITY CLAIM

This application is a continuation of, and claims priority to and thebenefit of, U.S. patent application Ser. No. 13/717,147, filed on Dec.17, 2012, which is a continuation of, and claims priority to and thebenefit of, U.S. patent application Ser. No. 13/540,032, filed on Jul.2, 2012, which issued as U.S. Pat. No. 8,348,193 on Jan. 8, 2013, whichis a continuation of, and claims priority to and the benefit of, U.S.patent application Ser. No. 13/024,843, filed on Feb. 10, 2011, whichissued as U.S. Pat. No. 8,245,968 on Aug. 21, 2012, which is adivisional of, and claims priority to and the benefit of, U.S. patentapplication Ser. No. 11/837,878, filed on Aug. 13, 2007, which issued asU.S. Pat. No. 7,954,758 on Jun. 7, 2011, which claims priority to andthe benefit of U.S. Provisional Patent Application No. 60/823,442, filedon Aug. 24, 2006, now expired, the entire contents of each of which areincorporated herein by reference.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application relates to the following commonly-ownedco-pending patent applications: U.S. patent application Ser. No.13/717,147, filed on Dec. 17, 2012; U.S. patent application Ser. No.13/527,177, filed on Jun. 19, 2012; U.S. patent application Ser. No.13/743,069, filed on Jan. 16, 2013; U.S. patent application Ser. No.13/899,172, filed on May 21, 2013; U.S. patent application Ser. No.13/901,283, filed on May 23, 2013; U.S. patent application Ser. No.13/901,295, filed on May 23, 2013; and U.S. patent application Ser. No.14/034,097, filed on Sep. 23, 2013.

NOTICE OF GOVERNMENT RIGHTS

This invention was made with U.S. Government support under Contract No.W31P4Q-06-C-0043, effective Nov. 23, 2005 (“the contract”), issued byU.S. Army Aviation and Missile Command. The U.S. Government has certainrights in the invention. More specifically, the U.S. Government has apaid-up license in this invention and the right in limited circumstancesto require the patent owner to license others on reasonable terms asprovided for by the terms of the contract.

BACKGROUND

1. Field

The present disclosure addresses retrieval of a hovering aircraft,especially in turbulent winds or onto a rough or irregularly-movingsurface, such as the deck of a ship in a rough sea. The presentdisclosure is especially suited to unmanned aircraft of small size, andrequires only modest accuracy in automatic or manual piloting.

2. Description of Prior Art

Hovering aircraft, be they helicopters, thrust-vectoring jets,“tail-sitters,” or other types, usually land by gently descending infree thrust-borne flight onto a landing surface, coming to rest on anundercarriage of wheels, skids, or legs. This elementary technique canbe problematic in certain situations, for example when targeting asmall, windswept landing pad on a ship moving in a rough sea. Decadesago, the Beartrap or RAST system was developed to permit retrieval withacceptable safety in such conditions. Retrieval with this systeminvolves securing a line between a helicopter and landing deck, and thenwinching the helicopter down onto a trolley. The helicopter is fastenedto the trolley. After retrieval, the trolley is used to move thehelicopter along the deck. The system is effective and widely used, butrequires an expensive and substantial plant in the landing area, andcoordination between aircraft and ground crew. Furthermore, thehelicopter must carry a complete undercarriage in addition to thenecessary Beartrap components.

By comparison, simple methods for retrieving aircraft from wing-borneflight into a small space have been described in U.S. Pat. No. 6,264,140and U.S. Pat. No. 6,874,729. These involve flying the aircraft into acable suspended in an essentially vertical orientation. Typically, thecable strikes a wing of the aircraft and slides spanwise along the winginto a hook; the hook snags the cable; the cable decelerates theaircraft briskly but smoothly; and the aircraft comes to rest hanging byits hook. Advantages of this technique include: simplicity of theapparatus; relatively easy targeting, since the aircraft can makecontact anywhere within its wingspan and almost anywhere along thecable; elimination of undercarriage from the aircraft; and safety, sincethe aircraft simply continues in wing-borne flight if it misses thecable, and since all components, apart from the cable itself, are keptwell clear of the flight path.

SUMMARY

One embodiment of the present disclosure provides for snag-cableretrieval of thrust-borne or hovering aircraft, and particularly thosewith large rotors. The present disclosure offers the same advantages asdoes snag-cable retrieval for wing-borne aircraft; namely, simplicity,relatively easy targeting, elimination of undercarriage, and safety.

Furthermore, since loads can be low during retrieval from hover, theapparatus can be light, inexpensive, and easy to deploy. Easy targetingmakes the technique well-suited for both manual control and economicalautomation.

Additional features and advantages are described herein, and will beapparent from the following Detailed Description and the Figures.

BRIEF DESCRIPTION OF THE FIGURES

FIGS. 1A, 1B, 1C, and 1D are a series of diagrammatic rear-quarterperspective views of an embodiment of the present disclosure for ahelicopter, showing the helicopter sequentially approaching above,sliding along, decelerating against, and hanging from a retrieval cable.

FIG. 2 is a perspective view of a representative hook installation on apole deployed by a helicopter or fixed wing aircraft, as constructedaccording to one embodiment of the present disclosure.

FIG. 3 is plan view of an embodiment of a clamping hook constructedaccording to one embodiment of the present disclosure.

FIGS. 4A, 4B, 4C, and 4D are a series of diagrammatic rear-quarterperspective views of an embodiment of the present disclosure for ahovering aircraft, showing the aircraft sequentially approaching,sliding along, decelerating against, and hanging from a retrieval cable.

FIG. 5 is a perspective view of a hook installation on a cruciformempennage, according to one embodiment of the disclosure

FIGS. 6A, 6B, 6C, and 6D are a series of diagrammatic rear-quarterperspective views of an embodiments of the present disclosure for ahovering aircraft, showing the aircraft sequentially approaching,sliding along, and decelerating against a retrieval cable, and coming torest on an adjacent support cable.

FIG. 7 is a side view of a hovering aircraft on a horizontal approach toa retrieval cable, with the approach made from upwind of the cable, andthe wing aligned at knife-edge to the relative wind in order to minimizedrag.

FIG. 8 is a side view of a hovering aircraft on a descending approach toa retrieval cable, with the approach made from downwind of the cable,and the wing aligned at knife-edge to the relative wind in order tominimize drag.

FIG. 9 is a side view of a hovering aircraft on a descending approach toa retrieval cable, with the approach made from downwind of the cable,and the wing generating lift.

FIGS. 10A, 10B, and 10C are a series of diagrammatic rear-quarterperspective views of an embodiment of the present disclosure for ahovering aircraft, in which the aircraft uses a trailing string tocapture a retrieval boom.

FIGS. 11A, 11B, 11C, and 11D are a series of diagrammatic rear-quarterperspective views of an embodiment of the present disclosure for ahovering aircraft, showing the aircraft sequentially approaching,engaging, and hanging from a cantilever retrieval fixture that has a setof cleats for engaging the aircraft.

FIGS. 12A, 12B, 12C, and 12D are a series of diagrammatic rear-quarterperspective views of an embodiment of the present disclosure for ahovering aircraft, showing the aircraft sequentially approaching,engaging, and hanging from a cantilever retrieval fixture which has aset of latches for engaging a detent in the aircraft fuselage.

FIGS. 13A, 13B, 13C, and 13D are a series of diagrammatic rear-quarterperspective views of an embodiment of the present disclosure for ahovering aircraft, showing the aircraft sequentially engaging andtranslating along a retrieval cable into a parking fixture, parking inthe fixture, and being stored or released for another flight.

DETAILED DESCRIPTION

FIGS. 1A, 1B, 1C, and 1D show an illustrative embodiment of the presentdisclosure, as used with a helicopter of conventional layout. Thisembodiment includes a retrieval fixture in the form of a cable 12 thatis suspended by supports 13 across the intended landing area. Thesupports 13 are sufficiently separated to allow the helicopter 1 tocomfortably pass between them. In preparation for retrieval, thehelicopter 1 extends an interceptor, which in one embodiment includes apole 5. The interceptor also includes one or more hooks 10 attached tothe end of the pole 5 as, for example, shown in FIG. 2. The helicopter 1approaches the cable 12 in slow, nearly-horizontal flight at speed VGalong a path 42 at a suitably large angle relative to the line 14between the supports 13. In one embodiment, the approach is flownautomatically, with three-dimensional position and velocity of thehelicopter 1 relative to the cable 12 being measured, for example, bydifferencing satellite-navigation solutions between an antenna 15 on thehelicopter and on a reference point 16 near the cable. Approach bringsthe pole 5 into contact with the cable 12, which then applies a force asindicated by arrow 17 to the surface 8 of the pole 5. The cable 12 thenslides along the pole 5. This can be arranged by: (a) deploying the pole5 with a suitable sweepback angle relative to the line of approach; or(b) by making the pole attachment compliant under the cable load 17; or(c) by attaching the pole 5 rigidly along the spin axis 4 of the rotor2, leaving the cable load 17 to rotate the helicopter 1 bodily about thecable axis 14; or (d) by a suitable combination of these arrangements.Sliding directs the cable 12 through a gate 22 into a hook 10 as shownin FIG. 2, and the gate 22 then closes to ensure that the cable 12 willnot be released until desired. Closing of the gate 22 may be senseddirectly, or inferred from deflection of the pole 5 under the cable load17, or from deceleration or rotation of the helicopter 1. When captureof the cable 12 is recognized, drive power is reduced and the rotor 2gradually slows to a stop. The helicopter 1 comes to rest hangingupside-down from the cable 12. A winch 18 or other suitable device foradjusting the height of the cable 12 can then be used to lower thehelicopter 1 onto a handling platform. The hook 10 can then be released.Alternatively, a small helicopter 1 can be removed from the cable 12 byhand.

If the approach speed of the helicopter 1 is sufficiently high, then thecable 12 may have to comply in order to make deceleration loadsacceptably small. This may be done by: (a) incorporating elasticsegments into the cable 12; or (b) by paying-out slack from a winch 18in order to control tension in the cable 12; or (c) by a combinationthereof. In either case, provision may be made quickly to take up theslack during the latter part of deceleration in order to limit sag ofthe helicopter 1 as it comes to rest.

It should be noted that instead of deploying the retrieval-fixtureinterceptor downward as in FIG. 1, the helicopter 1 in an alternativeembodiment could deploy the interceptor upward from its rotor hub 3. Itwould then approach so that its rotor 2 passes below rather than abovethe cable 12, and it would come to rest hanging right-side-up ratherthan upside-down. While coming to rest right-side-up would be desirable,especially for a manned helicopter, passing above the cable 12 as inFIG. 1 offers two safety advantages over passing below. First, itincreases the clearance between the cable 12 and the rotor 2 duringapproach. Second, it permits the helicopter 1 to attempt a climb to testfor capture (much as a fixed-wing aircraft landing on an aircraftcarrier increases power immediately at touchdown). Thus, shortly afterpassing the cable axis 14, or upon detecting an indication of contactwith or capture of the cable 12, power to the rotor 2 can be increased.If capture has not occurred, then the helicopter 1 will climb away fromthe retrieval area and can return for another approach. If thehelicopter 1 fails to climb, then this can be taken as confirmation thatcapture has occurred, and power can be reduced. The helicopter 1 willthen descend, and be left hanging upside-down from the cable 12.Swinging motion, including rotations about the approach axis 42 causedby rotor gyroscopic effect, can be damped by appropriate management ofrotor thrust and in-plane moments during deceleration.

FIG. 2 shows a detailed view of an installation of carabiner-type hooks10 in one embodiment of the present disclosure. A cable 12 slides alonga surface 8 onto a one-way gate 22, which then opens about a hinge 23.The cable 12 is captured when the gate 22 doses behind it. Meanwhile,the cable 12 remains free to slide along its axis through the hook 10.In one embodiment, the hook 10 includes a sloped deflector surface 25.If the cable 12 misses the capture aperture and strikes the deflectorsurface 25, then it will be directed to slide clear of the aircraft withlow applied force.

FIG. 3 shows an alternative embodiment of a hook of the presentdisclosure, which includes a slot 24 to clamp the cable 12 in the mannerof a jam cleat. This prevents the captured cable 12 from sliding alongits axis relative to the hook 9. It should be appreciated that othersuitable forms of the hook or hook installation may be employed inaccordance with the present disclosure.

FIGS. 4A, 4B, 4C, and 4D show another embodiment applied to an aircraft28 having a configuration suited to efficient wing-borne flight. Theaircraft 28 has a fixed wing 29 and a propeller 2 installed at its nose.The propeller's spin axis 4 is aligned with the fuselage. The retrievalpole of the interceptor as in FIGS. 1A to 1D is unnecessary, since theaft fuselage 8 provides a suitable surface for intercepting the cable12, and hooks 10 can be mounted on the rear of the fuselage 8 as shownin FIG. 5. It should be appreciated that in an alternative embodiment,an interceptor having a retrieval pole may be employed. To prepare forretrieval, the aircraft 28 pitches up from forward flight, with itsthrust line near horizontal, into hovering flight, with its thrust linenear vertical. Rotor thrust 20 is adjusted to balance aircraft weight.The thrust vector 20 is tilted along the approach path 42, and theaircraft 28 slowly draws the rear surface of its fuselage 8 across theretrieval cable 12. The cable load indicated by arrow 17 causes theaircraft 28 to tilt further along the approach path 42 as indicated byarrow 19. The cable 12 slides along the fuselage 8 (as shown in FIG. 5)and through a gate 22 into a hook 9. Retrieval is then completed in thesame or similar manner as for the helicopter 1 in FIG. 1. The aircraft28 finishes hanging nose-down on the cable 12. Again, this would beimpractical for a manned aircraft, but quite acceptable for an aircraftthat is small and unmanned.

FIGS. 6A, 6B, 6C, and 6D show another embodiment in which a second cable46 is attached to the cable supports 13 adjacent and essentially orsubstantially parallel to the snag cable 12. The position of this secondcable 46 is such that the aircraft is intercepted as it rotates aroundthe snag cable 12, and so comes to rest in a more nearly horizontalorientation than that shown in FIG. 4. The height of the snag cable 12can therefore be reduced, and the final nose-down orientation avoided.It should be appreciated that more than one additional cables can beemployed in alternative embodiments, and supported in any suitablemanner. In other embodiments, a net, mattress, boom or similar supportcould perform the same function as the second cable 46. Of thesechoices, a second cable 46 has the advantage that it can exchange roleswith the snag cable 12 depending upon the approach direction. In anycase, the aircraft support 46 must be positioned so that it remainsclear of the propeller as the aircraft comes to rest. It must alsocomply as necessary to arrest the aircraft without damage.

In any of these example embodiments, should the cable 12 not be capturedbecause of incorrect altitude, failure to capture can be recognized asthe cable axis 14 is passed. The aircraft can then climb away from theretrieval area and return for another approach.

FIG. 7, FIG. 8, and FIG. 9 illustrate possible paths for a fixed-wingaircraft to approach a retrieval cable 12 in a wind V_(W). In general,the rotor thrust vector T opposes the sum of the weight vector W and thedrag vector D. Thus, to maintain nonzero airspeed V_(A), the thrustvector T must be tilted to balance drag D. Required thrust T andthrust-vector tilt θ are minimized by minimizing drag, which can be doneby orienting the wing 29 at knife-edge to the wind V_(W) as shown inFIG. 7 and FIG. 8.

For successful capture, the aircraft 28 must contact the cable 12 in anaperture between the wing 29 and the hook 9. When the airspeed vectorV_(A) is into-wind V_(W), the thrust-vector tilt θ makes the aperture onthe downwind side of the aircraft hd broader than the aperture on theupwind side h_(u). Hence, guidance for a horizontal approach can be lessprecise if the aircraft approaches the cable 12 while moving downwindrather than upwind. In a sufficiently strong wind, tilt of the thrustvector could be so large that the upwind aperture hu would vanish, and ahorizontal approach would have to be made downwind in order to engagethe cable 12.

The approach, however, need not be horizontal. FIG. 8 shows analternative in which the aircraft 28 approaches while descendinginto-wind with knife-edge wing orientation. If the slope γ of theapproach path is selected to be approximately equal to the thrust-vectortilt θ, then the aperture h_(u) for successful capture of the cable 12is kept large. For a given wind speed V_(W), this form of upwindapproach requires more thrust (but not necessarily more power) than adownwind approach since it calls for higher airspeed.

A further possibility, as shown in FIG. 9, is to approach with the wing29 in a lifting rather than knife-edge orientation. In this case, thevector sum of thrust T and lift L balances drag D and weight W. Again,the aircraft 28 presents maximum capture aperture h_(u) to the cable 12by approaching into-wind while descending on a slope γ which isapproximately equal to the thrust-vector tilt θ. If the wind speedexceeds the stall airspeed in wing-borne flight, then descent can bevertical.

Of these approach methods, downwind drift in knife-edge orientation asin FIG. 7 requires the least thrust in a light wind. Wing-borne upwinddescent as in FIG. 9 requires the least thrust in a strong wind. Hence,the best choice of approach path and aircraft orientation will depend atleast in part on wind speed.

In an automatic approach, thrust-vector tilt θ and rotor power areadjusted to regulate the approach velocity vector V_(G). Uponencountering the cable 12, progress is retarded, and theautomatic-control logic calls for the thrust vector T to be tiltedtoward the approach path 42. This causes the aircraft 28 to rotatearound the cable 12 in the desired direction indicated by arrow 19 inFIG. 4B, so that sliding of the cable 12 into the hook 10 is promoted.

FIGS. 10A, 10B, and 10C show an embodiment of the present disclosure inwhich the retrieval fixture is a boom 48 cantilevered from a mast 13. Alarge aperture for capturing the retrieval fixture is created bytrailing an interceptor having a string 44 with a grappling hook 9, oralternatively with a small trailing mass 43 as shown in FIGS. 11A, 11B,11C, and 11D. Contact may excite waves in the trailing string and somake sliding over the boom 48 intermittent. Steady sliding can bepromoted by including a string tail 45 below the hook 9 or trailing mass43. Sliding of the string 44 along the boom 48 leads to capture by thegrappling hook 9, or, alternatively, if the string 44 contacts the boom48 at sufficient speed V_(G), then the inertia of the trailing mass 43will cause the string 44 to wrap around the boom 48. The aircraft comesto rest hanging by the string 44. The longer the string 44, the largerthe aperture for capture, and so the more relaxed are requirements foraccuracy in approach. However, this advantage is balanced by the need toelevate the cable boom 48 to allow sufficient room for the aircraft tohang on the string. In one embodiment, the necessary clearance could bereduced by retracting the string 44 after capture. This embodiment wouldrequire a suitable retraction mechanism.

FIGS. 11A, 11B, 11C, and 11D show an alternative embodiment in which theaircraft 28 need not have a hook. Instead, the retrieval fixtureincludes a boom 48 to which multiple cleats 24 are attached. Theaircraft 28 trails an interceptor including a string 44 with a mass 43and a tail 45. The axis 14 of the boom 48 includes a component parallelto the aircraft's direction of approach 42. Consequently, as theaircraft 28 draws the string 44 across the boom 48, the string slidesalong the boom into a cleat 24, which in one embodiment captures thestring as discussed in connection with FIG. 3. Retrieval is completed asdiscussed in connection with FIGS. 10A, 10B, and 10C.

FIGS. 12A, 12B, 12C, and 12D show another embodiment in which one of aset of latches 56 on a cantilever boom 48 engages one or more detents 54in the aircraft 28. The aircraft 28 approaches on a path 42 controlledso that a detent 54 is directed into a latch 56 on the boom 48.Retrieval is completed as discussed in connection with FIGS. 10A, 10B,and 10C.

In the embodiment of FIGS. 12A, 12B, 12C, and 12D, the cantilever boom48 is rotatable on a hinge 50 about a vertical axis 49 as shown by arrow58. An aerodynamic surface 52 orients the boom 48 passively relative tothe wind. Similarly, the boom 48 is rotatable about a horizontal axis14, and is rigidly connected to an aerodynamic surface 53. The weight ofthis surface 53, and its attachment 57 to the boom 48, are chosen sothat the latches 56 are oriented appropriately for a horizontal approachin calm wind. The area of the surface 53 is chosen so that as the windspeed increases, the latches orient appropriately for a descendingapproach as shown in FIG. 8 and FIG. 9.

In the embodiments illustrated above, the aircraft's thrust axis rotatessubstantially out of the vertical during the course of retrieval. FIGS.13A, 13B, 13C, and 13D show an alternative embodiment in which thethrust axis remains near vertical until the aircraft “parks.” Theaircraft approaches and captures a retrieval cable 12 as in FIGS. 4A and4B. Then, upon detecting contact, it applies pitch and yaw torques, forexample by appropriate adjustment of rotor cyclic pitch, so thatrotation about the cable is arrested and near-vertical orientation ismaintained. By further application of control torques, the aircraftslides along the cable such that it is guided by the cable into adocking fixture 5 a near a cable support as shown in FIGS. 13B and 13C.The docking fixture may include devices suitable for orienting andsecuring the aircraft in a desired position, which is provided so thatsecure docking can be detected, after which the aircraft's motor can beshut down. In one example, the docking fixture includes an arm, such asthe arm illustrated in FIGS. 13A, 13B, 13C, and 13D, configured toengage and secure the aircraft. The docking station may further includesuitable devices for conveniently servicing the aircraft, stowing theaircraft, or launching the aircraft for another flight as shown in FIG.13D.

It should be understood that various changes and modifications to ourillustrative embodiments will be apparent to those skilled in the art.Such changes and modifications can be made without departing from thespirit and scope of the present subject matter and without diminishingits intended advantages. It is therefore intended that such changes andmodifications be covered by the appended claims.

The invention is claimed as follows:
 1. A method for capturing a flyingobject, said method comprising: (a) causing a member connected to a bodyof the flying object to contact a fixture by motion of the flying objectrelative to the fixture; (b) thereafter, translating the flying objectrelative to the fixture toward a docking fixture; (c) receiving theflying object in the docking fixture; and (d) engaging a portion of theflying object with an arm of the docking fixture.
 2. The method of claim1, wherein causing the member to contact the fixture includes causingthe member to contact the fixture such that the member removablyattaches to the fixture.
 3. The method of claim 1, which includesstowing the flying object after the docking fixture receives the flyingobject.
 4. The method of claim 1, which includes servicing the flyingobject after the docking fixture receives the flying object.
 5. Themethod of claim 4, wherein said servicing is performed automatically. 6.The method of claim 1, which includes facilitating launch of the flyingobject after the docking fixture receives the flying object.
 7. Themethod of claim 1, which includes holding said portion of the flyingobject with the arm.
 8. The method of claim 1, which includes guidingthe flying object into a desired resting position as the flying objecttranslates relative to the fixture toward the docking fixture.
 9. Themethod of claim 8, which includes detecting that the flying object hasbeen guided into said desired resting position.
 10. The method of claim1, which includes orienting the flying object after the docking fixturereceives the flying object.
 11. A method for capturing a flying object,said method comprising: (a) after a member connected to a body of theflying object contacts and removably attaches to a fixture, translatingthe flying object relative to the fixture toward a docking fixture; (b)receiving the flying object in the docking fixture; and (c) engaging aportion of the flying object with an arm of the docking fixture.
 12. Themethod of claim 11, which includes stowing the flying object after thedocking fixture receives the flying object.
 13. The method of claim 11,which includes servicing the flying object after the docking fixturereceives the flying object.
 14. The method of claim 13, wherein saidservicing is performed automatically.
 15. The method of claim 11, whichincludes facilitating launch of the flying object after the dockingfixture receives the flying object.
 16. The method of claim 11, whichincludes holding said portion of the flying object with the arm.
 17. Themethod of claim 11, which includes guiding the flying object into adesired resting position as the flying object translates relative to thefixture toward the docking fixture.
 18. The method of claim 17, whichincludes detecting that the flying object has been guided into saiddesired resting position.
 19. The method of claim 11, which includesorienting the flying object after the docking fixture receives theflying object.
 20. A method for capturing a flying object, said methodcomprising: (a) receiving the flying object in a docking fixture after:(i) a member connected to a body of the flying object contacts a fixtureby motion of the flying object relative to the fixture; (ii) the memberremovably attaches to the fixture; and (iii) the flying object istranslated relative to the fixture toward the docking fixture; and (b)engaging said portion of the flying object with an arm of the dockingfixture.
 21. The method of claim 20, which includes stowing the flyingobject after the docking fixture receives the flying object.
 22. Themethod of claim 20, which includes servicing the flying object after thedocking fixture receives the flying object.
 23. The method of claim 22,wherein said servicing is performed automatically.
 24. The method ofclaim 20, which includes facilitating launch of the flying object afterthe docking fixture receives the flying object.
 25. The method of claim20, which includes holding said portion of the flying object with thearm.
 26. The method of claim 20, which includes guiding the flyingobject into a desired resting position as the flying object translatesrelative to the fixture toward the docking fixture.
 27. The method ofclaim 26, which includes detecting that the flying object has beenguided into said desired resting position.
 28. The method of claim 20,which includes orienting the flying object after the docking fixturereceives the flying object.